/*
 * Copyright (c) 2016, Alliance for Open Media. All rights reserved
 *
 * This source code is subject to the terms of the BSD 2 Clause License and
 * the Alliance for Open Media Patent License 1.0. If the BSD 2 Clause License
 * was not distributed with this source code in the LICENSE file, you can
 * obtain it at https://www.aomedia.org/license/software-license. If the Alliance for Open
 * Media Patent License 1.0 was not distributed with this source code in the
 * PATENTS file, you can obtain it at https://www.aomedia.org/license/patent-license.
 */
#include <memory.h>
#include <math.h>
#include <stdlib.h>
#include <assert.h>

#include "ransac.h"
#include "mathutils.h"
#include "random.h"
#include "common_dsp_rtcd.h"
#define MAX_MINPTS 4
#define MAX_DEGENERATE_ITER 10
#define MINPTS_MULTIPLIER 5

#define INLIER_THRESHOLD 1.25
#define MIN_TRIALS 20

////////////////////////////////////////////////////////////////////////////////
// ransac
typedef int (*IsDegenerateFunc)(double *p);
typedef int (*FindTransformationFunc)(int points, double *points1, double *points2, double *params);
typedef void (*ProjectPointsDoubleFunc)(double *mat, double *points, double *proj, int n,
                                        int stride_points, int stride_proj);

static void project_points_double_translation(double *mat, double *points, double *proj, int n,
                                              int stride_points, int stride_proj) {
    int i;
    for (i = 0; i < n; ++i) {
        const double x = *(points++), y = *(points++);
        *(proj++) = x + mat[0];
        *(proj++) = y + mat[1];
        points += stride_points - 2;
        proj += stride_proj - 2;
    }
}

static void project_points_double_rotzoom(double *mat, double *points, double *proj, int n,
                                          int stride_points, int stride_proj) {
    int i;
    for (i = 0; i < n; ++i) {
        const double x = *(points++), y = *(points++);
        *(proj++) = mat[2] * x + mat[3] * y + mat[0];
        *(proj++) = -mat[3] * x + mat[2] * y + mat[1];
        points += stride_points - 2;
        proj += stride_proj - 2;
    }
}

static void project_points_double_affine(double *mat, double *points, double *proj, int n,
                                         int stride_points, int stride_proj) {
    int i;
    for (i = 0; i < n; ++i) {
        const double x = *(points++), y = *(points++);
        *(proj++) = mat[2] * x + mat[3] * y + mat[0];
        *(proj++) = mat[4] * x + mat[5] * y + mat[1];
        points += stride_points - 2;
        proj += stride_proj - 2;
    }
}

static void normalize_homography(double *pts, int n, double *T) {
    double *p       = pts;
    double  mean[2] = {0, 0};
    double  msqe    = 0;
    double  scale;
    int     i;

    assert(n > 0);
    for (i = 0; i < n; ++i, p += 2) {
        mean[0] += p[0];
        mean[1] += p[1];
    }
    mean[0] /= n;
    mean[1] /= n;
    for (p = pts, i = 0; i < n; ++i, p += 2) {
        p[0] -= mean[0];
        p[1] -= mean[1];
        msqe += sqrt(p[0] * p[0] + p[1] * p[1]);
    }
    msqe /= n;
    scale = (msqe == 0 ? 1.0 : sqrt(2) / msqe);
    T[0]  = scale;
    T[1]  = 0;
    T[2]  = -scale * mean[0];
    T[3]  = 0;
    T[4]  = scale;
    T[5]  = -scale * mean[1];
    T[6]  = 0;
    T[7]  = 0;
    T[8]  = 1;
    for (p = pts, i = 0; i < n; ++i, p += 2) {
        p[0] *= scale;
        p[1] *= scale;
    }
}

static void invnormalize_mat(double *T, double *iT) {
    double is = 1.0 / T[0];
    double m0 = -T[2] * is;
    double m1 = -T[5] * is;
    iT[0]     = is;
    iT[1]     = 0;
    iT[2]     = m0;
    iT[3]     = 0;
    iT[4]     = is;
    iT[5]     = m1;
    iT[6]     = 0;
    iT[7]     = 0;
    iT[8]     = 1;
}

static void denormalize_homography(double *params, double *t1, double *t2) {
    double i_t2[9];
    double params2[9];
    invnormalize_mat(t2, i_t2);
    multiply_mat(params, t1, params2, 3, 3, 3);
    multiply_mat(i_t2, params2, params, 3, 3, 3);
}

static void denormalize_affine_reorder(double *params, double *t1, double *t2) {
    double params_denorm[MAX_PARAMDIM];
    params_denorm[0] = params[0];
    params_denorm[1] = params[1];
    params_denorm[2] = params[4];
    params_denorm[3] = params[2];
    params_denorm[4] = params[3];
    params_denorm[5] = params[5];
    params_denorm[6] = params_denorm[7] = 0;
    params_denorm[8]                    = 1;
    denormalize_homography(params_denorm, t1, t2);
    params[0] = params_denorm[2];
    params[1] = params_denorm[5];
    params[2] = params_denorm[0];
    params[3] = params_denorm[1];
    params[4] = params_denorm[3];
    params[5] = params_denorm[4];
    params[6] = params[7] = 0;
}

static void denormalize_rotzoom_reorder(double *params, double *t1, double *t2) {
    double params_denorm[MAX_PARAMDIM];
    params_denorm[0] = params[0];
    params_denorm[1] = params[1];
    params_denorm[2] = params[2];
    params_denorm[3] = -params[1];
    params_denorm[4] = params[0];
    params_denorm[5] = params[3];
    params_denorm[6] = params_denorm[7] = 0;
    params_denorm[8]                    = 1;
    denormalize_homography(params_denorm, t1, t2);
    params[0] = params_denorm[2];
    params[1] = params_denorm[5];
    params[2] = params_denorm[0];
    params[3] = params_denorm[1];
    params[4] = -params[3];
    params[5] = params[2];
    params[6] = params[7] = 0;
}

static void denormalize_translation_reorder(double *params, double *t1, double *t2) {
    double params_denorm[MAX_PARAMDIM];
    params_denorm[0] = 1;
    params_denorm[1] = 0;
    params_denorm[2] = params[0];
    params_denorm[3] = 0;
    params_denorm[4] = 1;
    params_denorm[5] = params[1];
    params_denorm[6] = params_denorm[7] = 0;
    params_denorm[8]                    = 1;
    denormalize_homography(params_denorm, t1, t2);
    params[0] = params_denorm[2];
    params[1] = params_denorm[5];
    params[2] = params[5] = 1;
    params[3] = params[4] = 0;
    params[6] = params[7] = 0;
}

static int find_translation(int np, double *pts1, double *pts2, double *mat) {
    double sumx, sumy;

    double t1[9], t2[9];
    normalize_homography(pts1, np, t1);
    normalize_homography(pts2, np, t2);

    sumx = 0;
    sumy = 0;
    for (int i = 0; i < np; ++i) {
        double dx = *(pts2++);
        double dy = *(pts2++);
        double sx = *(pts1++);
        double sy = *(pts1++);

        sumx += dx - sx;
        sumy += dy - sy;
    }
    mat[0] = sumx / np;
    mat[1] = sumy / np;
    denormalize_translation_reorder(mat, t1, t2);
    return 0;
}

static int find_rotzoom(int np, double *pts1, double *pts2, double *mat) {
    const int np2  = np * 2;
    double *  a    = (double *)malloc(sizeof(*a) * (np2 * 5 + 20));
    double *  b    = a + np2 * 4;
    double *  temp = b + np2;

    double t1[9], t2[9];
    normalize_homography(pts1, np, t1);
    normalize_homography(pts2, np, t2);
    assert(a != NULL);
    for (int i = 0; i < np; ++i) {
        double dx = *(pts2++);
        double dy = *(pts2++);
        double sx = *(pts1++);
        double sy = *(pts1++);

        a[i * 2 * 4 + 0]       = sx;
        a[i * 2 * 4 + 1]       = sy;
        a[i * 2 * 4 + 2]       = 1;
        a[i * 2 * 4 + 3]       = 0;
        a[(i * 2 + 1) * 4 + 0] = sy;
        a[(i * 2 + 1) * 4 + 1] = -sx;
        a[(i * 2 + 1) * 4 + 2] = 0;
        a[(i * 2 + 1) * 4 + 3] = 1;

        b[2 * i]     = dx;
        b[2 * i + 1] = dy;
    }
    if (!least_squares(4, a, np2, 4, b, temp, mat)) {
        free(a);
        return 1;
    }
    denormalize_rotzoom_reorder(mat, t1, t2);
    free(a);
    return 0;
}

static int find_affine(int np, double *pts1, double *pts2, double *mat) {
    assert(np > 0);
    const int np2 = np * 2;
    double *  a   = (double *)malloc(sizeof(*a) * (np2 * 7 + 42));
    if (a == NULL)
        return 1;
    double *b    = a + np2 * 6;
    double *temp = b + np2;

    double t1[9], t2[9];
    normalize_homography(pts1, np, t1);
    normalize_homography(pts2, np, t2);

    for (int i = 0; i < np; ++i) {
        double dx = *(pts2++);
        double dy = *(pts2++);
        double sx = *(pts1++);
        double sy = *(pts1++);

        a[i * 2 * 6 + 0]       = sx;
        a[i * 2 * 6 + 1]       = sy;
        a[i * 2 * 6 + 2]       = 0;
        a[i * 2 * 6 + 3]       = 0;
        a[i * 2 * 6 + 4]       = 1;
        a[i * 2 * 6 + 5]       = 0;
        a[(i * 2 + 1) * 6 + 0] = 0;
        a[(i * 2 + 1) * 6 + 1] = 0;
        a[(i * 2 + 1) * 6 + 2] = sx;
        a[(i * 2 + 1) * 6 + 3] = sy;
        a[(i * 2 + 1) * 6 + 4] = 0;
        a[(i * 2 + 1) * 6 + 5] = 1;

        b[2 * i]     = dx;
        b[2 * i + 1] = dy;
    }
    if (!least_squares(6, a, np2, 6, b, temp, mat)) {
        free(a);
        return 1;
    }
    denormalize_affine_reorder(mat, t1, t2);
    free(a);
    return 0;
}

static int get_rand_indices(int npoints, int minpts, int *indices, unsigned int *seed) {
    int i, j;
    int ptr = lcg_rand16(seed) % npoints;
    if (minpts > npoints)
        return 0;
    indices[0] = ptr;
    ptr        = (ptr == npoints - 1 ? 0 : ptr + 1);
    i          = 1;
    while (i < minpts) {
        int index = lcg_rand16(seed) % npoints;
        while (index) {
            ptr = (ptr == npoints - 1 ? 0 : ptr + 1);
            for (j = 0; j < i; ++j) {
                if (indices[j] == ptr)
                    break;
            }
            if (j == i)
                index--;
        }
        indices[i++] = ptr;
    }
    return 1;
}

typedef struct {
    int    num_inliers;
    double variance;
    int *  inlier_indices;
} RANSAC_MOTION;

// Return -1 if 'a' is a better motion, 1 if 'b' is better, 0 otherwise.
static int compare_motions(const void *arg_a, const void *arg_b) {
    const RANSAC_MOTION *motion_a = (RANSAC_MOTION *)arg_a;
    const RANSAC_MOTION *motion_b = (RANSAC_MOTION *)arg_b;

    if (motion_a->num_inliers > motion_b->num_inliers)
        return -1;
    if (motion_a->num_inliers < motion_b->num_inliers)
        return 1;
    if (motion_a->variance < motion_b->variance)
        return -1;
    if (motion_a->variance > motion_b->variance)
        return 1;
    return 0;
}

static int is_better_motion(const RANSAC_MOTION *motion_a, const RANSAC_MOTION *motion_b) {
    return compare_motions(motion_a, motion_b) < 0;
}

static void copy_points_at_indices(double *dest, const double *src, const int *indices,
                                   int num_points) {
    for (int i = 0; i < num_points; ++i) {
        const int index = indices[i];
        dest[i * 2]     = src[index * 2];
        dest[i * 2 + 1] = src[index * 2 + 1];
    }
}

static const double k_infinite_variance = 1e12;

static void clear_motion(RANSAC_MOTION *motion, int num_points) {
    motion->num_inliers = 0;
    motion->variance    = k_infinite_variance;
    memset(motion->inlier_indices, 0, sizeof(*motion->inlier_indices) * num_points);
}

static int ransac(const int *matched_points, int npoints, int *num_inliers_by_motion,
                  MotionModel *params_by_motion, int num_desired_motions, int minpts,
                  IsDegenerateFunc is_degenerate, FindTransformationFunc find_transformation,
                  ProjectPointsDoubleFunc projectpoints) {
    int trial_count = 0;
    int ret_val     = 0;

    unsigned int seed = (unsigned int)npoints;

    int indices[MAX_MINPTS] = {0};

    double *points1, *points2;
    double *corners1, *corners2;
    double *image1_coord;

    // Store information for the num_desired_motions best transformations found
    // and the worst motion among them, as well as the motion currently under
    // consideration.
    RANSAC_MOTION *motions, *worst_kept_motion = NULL;
    RANSAC_MOTION  current_motion;

    // Store the parameters and the indices of the inlier points for the motion
    // currently under consideration.
    double params_this_motion[MAX_PARAMDIM];

    double *cnp1, *cnp2;

    for (int i = 0; i < num_desired_motions; ++i) num_inliers_by_motion[i] = 0;

    if (npoints < minpts * MINPTS_MULTIPLIER || npoints == 0)
        return 1;

    points1      = (double *)malloc(sizeof(*points1) * npoints * 2);
    points2      = (double *)malloc(sizeof(*points2) * npoints * 2);
    corners1     = (double *)malloc(sizeof(*corners1) * npoints * 2);
    corners2     = (double *)malloc(sizeof(*corners2) * npoints * 2);
    image1_coord = (double *)malloc(sizeof(*image1_coord) * npoints * 2);

    motions = (RANSAC_MOTION *)malloc(sizeof(RANSAC_MOTION) * num_desired_motions);
    assert(motions != NULL);
    for (int i = 0; i < num_desired_motions; ++i) {
        motions[i].inlier_indices = (int *)malloc(sizeof(*motions->inlier_indices) * npoints);
        clear_motion(motions + i, npoints);
    }
    current_motion.inlier_indices = (int *)malloc(sizeof(*current_motion.inlier_indices) * npoints);
    clear_motion(&current_motion, npoints);

    worst_kept_motion = motions;

    if (!(points1 && points2 && corners1 && corners2 && image1_coord && motions &&
          current_motion.inlier_indices)) {
        ret_val = 1;
        goto finish_ransac;
    }

    cnp1 = corners1;
    cnp2 = corners2;
    for (int i = 0; i < npoints; ++i) {
        *(cnp1++) = *(matched_points++);
        *(cnp1++) = *(matched_points++);
        *(cnp2++) = *(matched_points++);
        *(cnp2++) = *(matched_points++);
    }

    while (MIN_TRIALS > trial_count) {
        double sum_distance         = 0.0;
        double sum_distance_squared = 0.0;

        clear_motion(&current_motion, npoints);

        int degenerate          = 1;
        int num_degenerate_iter = 0;

        while (degenerate) {
            num_degenerate_iter++;
            if (!get_rand_indices(npoints, minpts, indices, &seed)) {
                ret_val = 1;
                goto finish_ransac;
            }

            copy_points_at_indices(points1, corners1, indices, minpts);
            copy_points_at_indices(points2, corners2, indices, minpts);

            degenerate = is_degenerate(points1);
            if (num_degenerate_iter > MAX_DEGENERATE_ITER) {
                ret_val = 1;
                goto finish_ransac;
            }
        }

        if (find_transformation(minpts, points1, points2, params_this_motion)) {
            trial_count++;
            continue;
        }

        projectpoints(params_this_motion, corners1, image1_coord, npoints, 2, 2);

        for (int i = 0; i < npoints; ++i) {
            double dx       = image1_coord[i * 2] - corners2[i * 2];
            double dy       = image1_coord[i * 2 + 1] - corners2[i * 2 + 1];
            double distance = sqrt(dx * dx + dy * dy);

            if (distance < INLIER_THRESHOLD) {
                current_motion.inlier_indices[current_motion.num_inliers++] = i;
                sum_distance += distance;
                sum_distance_squared += distance * distance;
            }
        }

        if (current_motion.num_inliers >= worst_kept_motion->num_inliers &&
            current_motion.num_inliers > 1) {
            double mean_distance;
            mean_distance           = sum_distance / ((double)current_motion.num_inliers);
            current_motion.variance = sum_distance_squared /
                    ((double)current_motion.num_inliers - 1.0) -
                mean_distance * mean_distance * ((double)current_motion.num_inliers) /
                    ((double)current_motion.num_inliers - 1.0);
            if (is_better_motion(&current_motion, worst_kept_motion)) {
                // This motion is better than the worst currently kept motion. Remember
                // the inlier points and variance. The parameters for each kept motion
                // will be recomputed later using only the inliers.
                worst_kept_motion->num_inliers = current_motion.num_inliers;
                worst_kept_motion->variance    = current_motion.variance;
                if (svt_memcpy != NULL)
                    svt_memcpy(worst_kept_motion->inlier_indices,
                               current_motion.inlier_indices,
                               sizeof(*current_motion.inlier_indices) * npoints);
                else
                    svt_memcpy_c(worst_kept_motion->inlier_indices,
                                 current_motion.inlier_indices,
                                 sizeof(*current_motion.inlier_indices) * npoints);
                assert(npoints > 0);
                // Determine the new worst kept motion and its num_inliers and variance.
                for (int i = 0; i < num_desired_motions; ++i) {
                    if (is_better_motion(worst_kept_motion, &motions[i])) {
                        worst_kept_motion = &motions[i];
                    }
                }
            }
        }
        trial_count++;
    }

    // Sort the motions, best first.
    qsort(motions, num_desired_motions, sizeof(RANSAC_MOTION), compare_motions);

    // Recompute the motions using only the inliers.
    for (int i = 0; i < num_desired_motions; ++i) {
        if (motions[i].num_inliers >= minpts) {
            copy_points_at_indices(
                points1, corners1, motions[i].inlier_indices, motions[i].num_inliers);
            copy_points_at_indices(
                points2, corners2, motions[i].inlier_indices, motions[i].num_inliers);

            find_transformation(
                motions[i].num_inliers, points1, points2, params_by_motion[i].params);

            params_by_motion[i].num_inliers = motions[i].num_inliers;
            if (svt_memcpy != NULL)
                svt_memcpy(params_by_motion[i].inliers,
                           motions[i].inlier_indices,
                           sizeof(*motions[i].inlier_indices) * npoints);
            else
                svt_memcpy_c(params_by_motion[i].inliers,
                             motions[i].inlier_indices,
                             sizeof(*motions[i].inlier_indices) * npoints);
        }
        num_inliers_by_motion[i] = motions[i].num_inliers;
    }

finish_ransac:
    free(points1);
    free(points2);
    free(corners1);
    free(corners2);
    free(image1_coord);
    free(current_motion.inlier_indices);
    if (motions) {
        for (int i = 0; i < num_desired_motions; ++i) free(motions[i].inlier_indices);
        free(motions);
    }

    return ret_val;
}

static int ransac_double_prec(const double *matched_points, int npoints, int *num_inliers_by_motion,
                              MotionModel *params_by_motion, int num_desired_motions, int minpts,
                              IsDegenerateFunc        is_degenerate,
                              FindTransformationFunc  find_transformation,
                              ProjectPointsDoubleFunc projectpoints) {
    int trial_count = 0;
    int ret_val     = 0;

    unsigned int seed = (unsigned int)npoints;

    int indices[MAX_MINPTS] = {0};

    double *points1, *points2;
    double *corners1, *corners2;
    double *image1_coord;

    // Store information for the num_desired_motions best transformations found
    // and the worst motion among them, as well as the motion currently under
    // consideration.
    RANSAC_MOTION *motions, *worst_kept_motion = NULL;
    RANSAC_MOTION  current_motion;

    // Store the parameters and the indices of the inlier points for the motion
    // currently under consideration.
    double params_this_motion[MAX_PARAMDIM];

    double *cnp1, *cnp2;

    for (int i = 0; i < num_desired_motions; ++i) num_inliers_by_motion[i] = 0;

    if (npoints < minpts * MINPTS_MULTIPLIER || npoints == 0)
        return 1;

    points1      = (double *)malloc(sizeof(*points1) * npoints * 2);
    points2      = (double *)malloc(sizeof(*points2) * npoints * 2);
    corners1     = (double *)malloc(sizeof(*corners1) * npoints * 2);
    corners2     = (double *)malloc(sizeof(*corners2) * npoints * 2);
    image1_coord = (double *)malloc(sizeof(*image1_coord) * npoints * 2);

    motions = (RANSAC_MOTION *)malloc(sizeof(RANSAC_MOTION) * num_desired_motions);
    assert(motions != NULL);
    for (int i = 0; i < num_desired_motions; ++i) {
        motions[i].inlier_indices = (int *)malloc(sizeof(*motions->inlier_indices) * npoints);
        clear_motion(motions + i, npoints);
    }
    current_motion.inlier_indices = (int *)malloc(sizeof(*current_motion.inlier_indices) * npoints);
    clear_motion(&current_motion, npoints);

    worst_kept_motion = motions;

    if (!(points1 && points2 && corners1 && corners2 && image1_coord && motions &&
          current_motion.inlier_indices)) {
        ret_val = 1;
        goto finish_ransac;
    }

    cnp1 = corners1;
    cnp2 = corners2;
    for (int i = 0; i < npoints; ++i) {
        *(cnp1++) = *(matched_points++);
        *(cnp1++) = *(matched_points++);
        *(cnp2++) = *(matched_points++);
        *(cnp2++) = *(matched_points++);
    }

    while (MIN_TRIALS > trial_count) {
        double sum_distance         = 0.0;
        double sum_distance_squared = 0.0;

        clear_motion(&current_motion, npoints);

        int degenerate          = 1;
        int num_degenerate_iter = 0;

        while (degenerate) {
            num_degenerate_iter++;
            if (!get_rand_indices(npoints, minpts, indices, &seed)) {
                ret_val = 1;
                goto finish_ransac;
            }

            copy_points_at_indices(points1, corners1, indices, minpts);
            copy_points_at_indices(points2, corners2, indices, minpts);

            degenerate = is_degenerate(points1);
            if (num_degenerate_iter > MAX_DEGENERATE_ITER) {
                ret_val = 1;
                goto finish_ransac;
            }
        }

        if (find_transformation(minpts, points1, points2, params_this_motion)) {
            trial_count++;
            continue;
        }

        projectpoints(params_this_motion, corners1, image1_coord, npoints, 2, 2);

        for (int i = 0; i < npoints; ++i) {
            double dx       = image1_coord[i * 2] - corners2[i * 2];
            double dy       = image1_coord[i * 2 + 1] - corners2[i * 2 + 1];
            double distance = sqrt(dx * dx + dy * dy);

            if (distance < INLIER_THRESHOLD) {
                current_motion.inlier_indices[current_motion.num_inliers++] = i;
                sum_distance += distance;
                sum_distance_squared += distance * distance;
            }
        }

        if (current_motion.num_inliers >= worst_kept_motion->num_inliers &&
            current_motion.num_inliers > 1) {
            double mean_distance;
            mean_distance           = sum_distance / ((double)current_motion.num_inliers);
            current_motion.variance = sum_distance_squared /
                    ((double)current_motion.num_inliers - 1.0) -
                mean_distance * mean_distance * ((double)current_motion.num_inliers) /
                    ((double)current_motion.num_inliers - 1.0);
            if (is_better_motion(&current_motion, worst_kept_motion)) {
                // This motion is better than the worst currently kept motion. Remember
                // the inlier points and variance. The parameters for each kept motion
                // will be recomputed later using only the inliers.
                worst_kept_motion->num_inliers = current_motion.num_inliers;
                worst_kept_motion->variance    = current_motion.variance;
                if (svt_memcpy != NULL)
                    svt_memcpy(worst_kept_motion->inlier_indices,
                               current_motion.inlier_indices,
                               sizeof(*current_motion.inlier_indices) * npoints);
                else
                    svt_memcpy_c(worst_kept_motion->inlier_indices,
                                 current_motion.inlier_indices,
                                 sizeof(*current_motion.inlier_indices) * npoints);
                assert(npoints > 0);
                // Determine the new worst kept motion and its num_inliers and variance.
                for (int i = 0; i < num_desired_motions; ++i) {
                    if (is_better_motion(worst_kept_motion, &motions[i])) {
                        worst_kept_motion = &motions[i];
                    }
                }
            }
        }
        trial_count++;
    }

    // Sort the motions, best first.
    qsort(motions, num_desired_motions, sizeof(RANSAC_MOTION), compare_motions);

    // Recompute the motions using only the inliers.
    for (int i = 0; i < num_desired_motions; ++i) {
        if (motions[i].num_inliers >= minpts) {
            copy_points_at_indices(
                points1, corners1, motions[i].inlier_indices, motions[i].num_inliers);
            copy_points_at_indices(
                points2, corners2, motions[i].inlier_indices, motions[i].num_inliers);

            find_transformation(
                motions[i].num_inliers, points1, points2, params_by_motion[i].params);
            if (svt_memcpy != NULL)
                svt_memcpy(params_by_motion[i].inliers,
                           motions[i].inlier_indices,
                           sizeof(*motions[i].inlier_indices) * npoints);
            else
                svt_memcpy_c(params_by_motion[i].inliers,
                             motions[i].inlier_indices,
                             sizeof(*motions[i].inlier_indices) * npoints);
        }
        num_inliers_by_motion[i] = motions[i].num_inliers;
    }

finish_ransac:
    free(points1);
    free(points2);
    free(corners1);
    free(corners2);
    free(image1_coord);
    free(current_motion.inlier_indices);
    if (motions) {
        for (int i = 0; i < num_desired_motions; ++i) free(motions[i].inlier_indices);
        free(motions);
    }

    return ret_val;
}

static int is_collinear3(double *p1, double *p2, double *p3) {
    static const double collinear_eps = 1e-3;
    const double        v = (p2[0] - p1[0]) * (p3[1] - p1[1]) - (p2[1] - p1[1]) * (p3[0] - p1[0]);
    return fabs(v) < collinear_eps;
}

static int is_degenerate_translation(double *p) {
    return (p[0] - p[2]) * (p[0] - p[2]) + (p[1] - p[3]) * (p[1] - p[3]) <= 2;
}

static int is_degenerate_affine(double *p) { return is_collinear3(p, p + 2, p + 4); }

static int ransac_translation(int *matched_points, int npoints, int *num_inliers_by_motion,
                              MotionModel *params_by_motion, int num_desired_motions) {
    return ransac(matched_points,
                  npoints,
                  num_inliers_by_motion,
                  params_by_motion,
                  num_desired_motions,
                  3,
                  is_degenerate_translation,
                  find_translation,
                  project_points_double_translation);
}

static int ransac_rotzoom(int *matched_points, int npoints, int *num_inliers_by_motion,
                          MotionModel *params_by_motion, int num_desired_motions) {
    return ransac(matched_points,
                  npoints,
                  num_inliers_by_motion,
                  params_by_motion,
                  num_desired_motions,
                  3,
                  is_degenerate_affine,
                  find_rotzoom,
                  project_points_double_rotzoom);
}

static int ransac_affine(int *matched_points, int npoints, int *num_inliers_by_motion,
                         MotionModel *params_by_motion, int num_desired_motions) {
    return ransac(matched_points,
                  npoints,
                  num_inliers_by_motion,
                  params_by_motion,
                  num_desired_motions,
                  3,
                  is_degenerate_affine,
                  find_affine,
                  project_points_double_affine);
}

RansacFunc svt_av1_get_ransac_type(TransformationType type) {
    switch (type) {
    case AFFINE: return ransac_affine;
    case ROTZOOM: return ransac_rotzoom;
    case TRANSLATION: return ransac_translation;
    default: assert(0); return NULL;
    }
}

static int ransac_translation_double_prec(double *matched_points, int npoints,
                                          int *num_inliers_by_motion, MotionModel *params_by_motion,
                                          int num_desired_motions) {
    return ransac_double_prec(matched_points,
                              npoints,
                              num_inliers_by_motion,
                              params_by_motion,
                              num_desired_motions,
                              3,
                              is_degenerate_translation,
                              find_translation,
                              project_points_double_translation);
}

static int ransac_rotzoom_double_prec(double *matched_points, int npoints,
                                      int *num_inliers_by_motion, MotionModel *params_by_motion,
                                      int num_desired_motions) {
    return ransac_double_prec(matched_points,
                              npoints,
                              num_inliers_by_motion,
                              params_by_motion,
                              num_desired_motions,
                              3,
                              is_degenerate_affine,
                              find_rotzoom,
                              project_points_double_rotzoom);
}

static int ransac_affine_double_prec(double *matched_points, int npoints,
                                     int *num_inliers_by_motion, MotionModel *params_by_motion,
                                     int num_desired_motions) {
    return ransac_double_prec(matched_points,
                              npoints,
                              num_inliers_by_motion,
                              params_by_motion,
                              num_desired_motions,
                              3,
                              is_degenerate_affine,
                              find_affine,
                              project_points_double_affine);
}

RansacFuncDouble svt_av1_get_ransac_double_prec_type(TransformationType type) {
    switch (type) {
    case AFFINE: return ransac_affine_double_prec;
    case ROTZOOM: return ransac_rotzoom_double_prec;
    case TRANSLATION: return ransac_translation_double_prec;
    default: assert(0); return NULL;
    }
}
